Please use this identifier to cite or link to this item: https://oar.a-star.edu.sg/jspui/handle/123456789/2453
Title: Towards Emergence of Tool Use in Robots: Automatic Tool Recognition and Use without Prior Tool Learning
Other Titles: 2018 IEEE International Conference on Robotics and Automation (ICRA)
Authors: Tee, Keng Peng
Li, Jun
Chen, Lawrence Tai Pang
Wan, Kong Wah
Ganesh, Gowrishankar
Issue Date: 21-May-2018
Abstract: Humans are adept at tool use. We can intuitively and immediately improvise and use unknown objects in our environment as tools, to assist us in performing tasks. In this study, we provide similar cognition and capabilities to robots. Neuroscientific studies on tool use have suggested that human dexterity with tools is enabled by the embodiment of the tools, which in effect, allows humans to immediately transfer prior skills acquired without tools, onto tasks requiring tool use. Here, utilizing the theoretical results from our investigations on embodiment and tool use in humans over the last years, we propose a concept and algorithm to enable similar skill transfer by robots. Our algorithm enables a robot that has had no prior learning with tools, to automatically recognize an object (seen for the first time) in its environment as a potential tool for an otherwise unattainable task, and use the tool to perform the task thereafter.
Description: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://oar.a-star.edu.sg:80/jspui/handle/123456789/2453
Appears in Collections:Institute for Infocomm Research

Files in This Item:
File Description SizeFormat 
robot_tool_use_17.pdf1.45 MBAdobe PDFView/Open


Items in OAR are protected by Publisher Copyrights, with all rights reserved, unless otherwise indicated.

Admin Tools